Adds support for passing elevation rasters to pose estimator. For example, the WMS server could serve rasterized OSM Buildings as in the updated px4-sitl Docker image: https://github.com/hmakelin/gisnav-docker/pull/11, or a DEM raster (height relative to ground below drone). Using elevation rasters with height larger than 255 units (current implementation uses uint8 array for storing the elevation) has not been tested but there is a TODO left for it in the code.
Note: The Gazebo world buildings are featureless blocks so in the simulation (almost) all matched keypoints will be on the ground (z=0) plane.
Adds support for passing elevation rasters to pose estimator. For example, the WMS server could serve rasterized OSM Buildings as in the updated
px4-sitlDocker image: https://github.com/hmakelin/gisnav-docker/pull/11, or a DEM raster (height relative to ground below drone). Using elevation rasters with height larger than 255 units (current implementation uses uint8 array for storing the elevation) has not been tested but there is a TODO left for it in the code.Note: The Gazebo world buildings are featureless blocks so in the simulation (almost) all matched keypoints will be on the ground (z=0) plane.
Other:
--build-arg WITH_GISNAVfrom README.md example, not needed after updates introduced in https://github.com/hmakelin/gisnav-docker/pull/8